Estimation of the Cutting Force Using the Dynamic Friction Coefficient Obtained by Reaction Force During the Needle Insertion

To decrease human error during the needle insertion, authors aimed to develop force visualization system. The purpose was to elucidate a method of determining the dynamic friction coefficient and estimating the cutting force.The elastic force was obtained by pressing a test piece with a stick. The needle inserted twice to the test piece. The dynamic friction coefficient and the cutting force were calculated based on the elastic force and the second needle insertion force.The experimental and the theoretical cutting force wave forms were consistent qualitatively. The cutting force could estimate by obtaining the elastic force and the dynamic friction coefficient.